This article presents the design and implementation of a drive-by-wire system and a navigation control system for an autonomous Formula SAE race car. The result is the development of a platform for research into autonomous driving which can be easily replicated. Drive-by-wire actuators for acceleration, braking and steering of the vehicle are discussed, as well as the embedded low-level control system. The high-level navigation system features sensor fusion of a 6-dof IMU with a standard GPS and the integration of an automotive LIDAR. Operation of the vehicle is via a multi-threaded program with asynchronous IO and is based upon recording and driving waypoints. In addition to independent safety interlocks, active safety systems are an integral part to both the drive-by-wire and navigation systems.
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Drage et al. (2014) studied this question.
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